YASKAWA MP2000 Series User Manual

6.2 Motion Command Details
6.2.9 Change Acceleration Time (ACC)
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6.2.9 Change Acceleration Time (ACC)
The ACC command transfers the setting of the Straight Line Acceleration Time Constant (motion setting parameter
OL36) to the Second-step Linear Acceleration Time Constant in the SERVOPACK and enables the setting.
 For the SGD-N and SGDB-AN SERVOPACKs, the deceleration time constant will be the same as the
acceleration time constant.
 MECHATROLINK-II has a function that automatically updates setting parameters if a parameter changes. There is
no need to execute the ACC command with this function. For details, refer to bit A (User Constants Self-writing
Function) in the 4.4.1 ( 2 ) Function Selection 1.
( 1 ) Executing/Operating Procedure
1. Check to see if all the following conditions are satisfied.
2. Set OW08 to 10 to execute the ACC motion command.
The ACC command will transfer the setting of the Straight Line Acceleration Time Constant (motion setting
parameter OL36) to the Second-step Linear Acceleration Time Constant in the SERVOPACK and enable the
setting.
IW08 will be 10 during command execution.
IW09, bit 0 will turn ON during the command processing and will turn OFF when the processing has been
completed.
3. Set OW08 to 0 to execute the NOP motion command and then complete the change of the linear
acceleration time constant.
( 2 ) Holding and Aborting
The Holds a Command bit (OW09, bit 0) and the Interrupt a Command bit (OW09, bit 1) cannot be used.
( 3 ) Related Parameters
[ a ] Setting Parameters
No. Execution Conditions Confirmation Method
1 There are no alarms. Both IL02 and IL04 are 0.
2
Pulse distribution has been completed for the SERVO-
PACK.
IW0C, bit 0 is ON.
3 Motion command execution has been completed. IW08 is 0 and IW09, bit 0 is OFF.
Parameter Name Setting
OW03 Function Setting 1
Set the speed unit, acceleration/deceleration units, and filter type.
OW08 Motion Command
The linear acceleration time constant is changed when this parameter is set to 10.
OW09
Bit 0
Holds a Command
This parameter is ignored for ACC command.
OW09
Bit 1
Interrupt a Command
This parameter is ignored for ACC command.
OL36
Straight Line Acceler-
ation/Acceleration
Time Constant
Set the linear acceleration rate or acceleration time constant. The setting unit is speci-
fied by OW03.

YASKAWA MP2000 Series Specifications

General

Control Method	Digital Control
Communication Protocols	PROFIBUS-DP, MECHATROLINK-II
Programming Language	Structured Text
Operating Temperature	0°C to 55°C
Storage Temperature	-20°C to 65°C

Summary

Overview

SVB Module Overview and Features

Provides an overview and features of the SVB Module, including its capabilities and architecture.

Specifications

Details the hardware and general specifications of the SVB-01 Module.

Settings and Installation

LED Indicators and Switch Settings

Explains LED indicators, status indications, and switch settings for the SVB-01 Module.

Mounting/Removing SVB-01 Modules

Self-configuration and Created Definition Files

Self-configuration Overview

Explains the self-configuration function and how it reduces system startup time.

How to Execute Self-configuration

Describes two methods for executing self-configuration: using DIP switch and using MPE720.

System Startup Using Self-Configuration

Details system startup procedures for first-time setup, adding devices, and replacing devices.

Self-configuration and Definition Files

Motion Parameters

Motion Parameters Register Numbers

Motion Parameters Setting Window

Motion Parameter Lists

Motion Parameter Setting Examples

Example Setting of Motion Parameters for the Machine

Position Reference

Speed Reference

Acceleration/Deceleration Settings

Motion Commands

Motion Command Table

Motion Commands Supported by SERVOPACK Models

Motion Command Details

Provides detailed descriptions of individual motion commands, including their execution procedures and parameters.

Absolute Position Detection

Absolute Position Detection Function

Explains the function of absolute position detection and its features.

Setting Procedure of Absolute Position Detection Function

Details the system startup flowchart and initialization procedures for absolute encoders.

Absolute Position Detection for Finite Length Axes

Describes parameter settings and precautions for finite length axes using absolute position detection.

Absolute Position Detection for Infinite Length Axes

Explains position control methods for infinite length axes using absolute position detection.

Settings for Connecting Inverters

Specifications for Communications with Connected Inverters

Operating Inverters Using an MPE720

Guides on checking items before operation, operation precautions, and procedures for using inverters with MPE720.

Main Commands and Subcommands

Inverter Alarm and Warning Codes

Classifies and lists inverter errors, alarms, and warnings.

Utility Functions

Controlling Vertical Axes

Overtravel Function

Details connections and parameter settings for stopping the machine when the moving part exceeds movement range.

Software Limit Function

Explains setting upper and lower limits for machine movement to prevent runaway or damage.

Troubleshooting

Troubleshooting System Errors

Provides information for troubleshooting system errors, including register allocations and error status.

Motion Program Alarms

Details motion program alarms, their configuration, and alarm codes.

List of Causes for Command Error Occurrence

Lists causes of command error occurrences for each motion command.

Troubleshooting Motion Errors

Explains details and corrective actions for errors occurring in motion control functions.